U.S. patent application number 12/562141 was filed with the patent office on 2011-02-03 for connecting assembly and clamp replacing apparatus using same.
This patent application is currently assigned to HON HAI PRECISION INDUSTRY CO., LTD.. Invention is credited to SHOU-KUO HSU, SHEN-CHUN LI.
Application Number | 20110023650 12/562141 |
Document ID | / |
Family ID | 43525738 |
Filed Date | 2011-02-03 |
United States Patent
Application |
20110023650 |
Kind Code |
A1 |
LI; SHEN-CHUN ; et
al. |
February 3, 2011 |
CONNECTING ASSEMBLY AND CLAMP REPLACING APPARATUS USING SAME
Abstract
A clamp replacing apparatus includes a robot arm, a clamp and a
connecting assembly configured for detachably connecting the clamp
to the robot arm. The connecting assembly includes a first rotator
and a second rotator. The first rotator is fixed to the robot arm
and comprises a number of first locking portions each defining a
receiving groove. The second rotator is fixed to the clamp and
comprises a number of second locking portions corresponding to the
first locking portions and each defining a bolt portion. The bolt
portion can be received in the corresponding receiving groove or
escaped from the receiving groove.
Inventors: |
LI; SHEN-CHUN; (Tu-Cheng,
TW) ; HSU; SHOU-KUO; (Tu-Cheng, TW) |
Correspondence
Address: |
Altis Law Group, Inc.;ATTN: Steven Reiss
288 SOUTH MAYO AVENUE
CITY OF INDUSTRY
CA
91789
US
|
Assignee: |
HON HAI PRECISION INDUSTRY CO.,
LTD.
Tu-Cheng
TW
|
Family ID: |
43525738 |
Appl. No.: |
12/562141 |
Filed: |
September 18, 2009 |
Current U.S.
Class: |
74/490.01 ;
29/283; 29/709 |
Current CPC
Class: |
Y10T 74/20305 20150115;
Y10T 403/7009 20150115; Y10T 74/20335 20150115; Y10T 29/53991
20150115; Y10T 403/7005 20150115; Y10T 29/53039 20150115; B25J
9/1697 20130101; B25J 15/04 20130101; Y10T 74/20329 20150115 |
Class at
Publication: |
74/490.01 ;
29/709; 29/283 |
International
Class: |
B25J 18/00 20060101
B25J018/00; B23P 21/00 20060101 B23P021/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 30, 2009 |
CN |
200910305042.5 |
Claims
1. A connecting assembly for detachably connecting a clamp to a
robot arm, comprising: a first rotator fixed to the robot arm and
comprising a plurality of first locking portions each defining a
receiving groove; and a second rotator fixed to the clamp and
comprising a plurality of second locking portions corresponding to
the first locking portions and each defining a bolt portion, the
bolt portion can be received in the corresponding receiving groove
or escaped from the receiving groove.
2. The connecting assembly in claim 1, wherein the first rotator
comprises a first base and a first platform formed on an end
surface of the first base and facing the second rotator, the first
locking portions are radially extending from a circumference
surface of the first platform.
3. The connecting assembly in claim 1, wherein each of the
plurality of first locking portions has a sector-shaped
configuration.
4. The connecting assembly in claim 2, wherein each of the
plurality of first locking portions comprises an arc-shaped outer
edge surface, two side surfaces and two end surfaces connecting the
arc-shaped edge surface to the side surface of the first platform,
the receiving groove is defined parallel to the arc-shaped outer
edge surface and a first through hole is perpendicularly
communicated to the receiving groove on one of the end surfaces
facing the second rotator.
5. The connecting assembly in claim 4, wherein, corresponding to
each first locking portion, the first rotator further comprises a
plurality of springs fixed on the first base and a plurality of
ball bearings respectively connected to the distal ends of the
springs corresponding to the first through holes.
6. The connecting assembly in claim 2, wherein the second rotator
comprises a second base and a second platform formed on an end of
the second base facing the first rotator.
7. The connecting assembly in claim 6, wherein a receiving space is
defined between an end surface of the second platform and end
surfaces of the plurality of second locking portions for receiving
a part of the first platform therein.
8. The connecting assembly in claim 4, wherein each second locking
portion comprises a rootage portion and the bolt portion extending
from an end thereof towards the receiving groove.
9. The connecting assembly in claim 8, wherein the bolt portion
defines a second through hole corresponding to the first through
hole, a part of the ball bearing is received in the second through
hole by passing through the first through hole.
10. The connecting assembly in claim 1, wherein both of the first
and second locking portions are made of plastic or metal with a
high friction coefficiency.
11. A clamp replacing apparatus comprising: a robot arm, a clamp;
and a connecting assembly for detachably connecting the clamp to
the robot arm, comprising: a first rotator fixed to the robot arm
and comprising a plurality of first locking portions each defining
a receiving groove; and a second rotator fixed to the clamp and
comprising a plurality of second locking portions corresponding to
the first locking portions and each defining a bolt portion, the
bolt portion can be received in the corresponding receiving groove
or escaped from the receiving groove.
12. The clamp replacing apparatus in claim 11, wherein the robot
arm comprises a flange radially extending from a distal end thereof
and a plurality of first screw holes on the flange, the first
rotator defines a plurality of third screw holes corresponding to
the first screw holes, a plurality of first screws are respectively
extended into the first screw holes and the third screw holes for
fixing the first rotator to the robot arm.
13. The clamp replacing apparatus in claim 11, wherein the clamp
defines a plurality of second screw holes, the second rotator
defines a plurality of fourth screw holes corresponding to the
second screw holes, a plurality of second screws are respectively
received in the second screw holes and the fourth screw holes for
fixing the second rotator to the clamp.
14. The clamp replacing apparatus in claim 11, further comprising a
light emitter disposed at the center of the second rotator
configured for emitting a linear ray.
15. The clamp replacing apparatus in claim 11, wherein a scanning
lens is disposed in the center of the first rotator and is
configured for capturing a plurality of images around the robot arm
and installing a three-axis reference system with an x-axis, a
y-axis and a z-axis for each image.
16. The clamp replacing apparatus in claim 11, wherein a first
sensor is disposed between two adjacent second locking portions and
is configured for transmitting a position signal, a second sensor
is disposed on one of the first locking portion for receiving the
position signal from the first sensor when the first rotator rotate
relative to the second rotator.
17. The clamp replacing apparatus in claim 15, further comprising a
controlling circuit comprising: a collecting module configured for
collecting a plurality of brightness values corresponding to each
pixel of the images and a plurality of coordinates corresponding to
the brightness values; a comparing module configured for comparing
the brightness values of the images with a predetermined brightness
value stored therein; and a driving module configured for achieving
the corresponding coordinate of the brightness value and drives the
robot arm to move to the corresponding coordinate and rotate
relative to the clamp, until the second sensor gets a position
signal from the first sensor, when the brightness values of the
images is equal to the predetermined brightness value.
18. The clamp replacing apparatus in claim 17, wherein if the
brightness values of the images are not equal to the predetermined
brightness value, the robot arm moves away and the collecting
module continues to collect other images.
19. The clamp replacing apparatus in claim 17, wherein the driving
module further comprises a calculating unit configured for
calculating a moving distance for the robot arm, according to an
ordinate origin of the three-axis reference system, an current
ordinate position of the robot arm and a predetermined calculating
scale.
Description
BACKGROUND
[0001] 1. Technical Field
[0002] The present disclosure relates to production replacing
apparatuses and, particularly, to a connecting assembly and a clamp
replacing apparatus using the same.
[0003] 2. Description of Related Art
[0004] Currently, the operation of replacing a clamp of a robot or
a machine, particularly a complicated or heavy clamp, has to be
performed by at least two operators using tools such as levers,
screw drivers, or other special tools. Detachment of such a clamp
and replacement with another clamp will waste a lot of time and
lead to low productivity.
[0005] Therefore, it is desirable to provide a connecting assembly
and a clamp replacing apparatus, which can overcome or at least
alleviate the above-mentioned problems.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] Many aspects of the embodiments can be better understood
with reference to the following drawings. The components in the
drawings are not necessarily drawn to scale, the emphasis instead
being placed upon clearly illustrating the principles of the
present disclosure. Moreover, in the drawings, like reference
numerals designate corresponding parts throughout the several
views.
[0007] FIG. 1 is an isometric, exploded view of a clamp replacing
apparatus, according to an exemplary embodiment.
[0008] FIG. 2 is an isometric, assembled view of the clamp
replacing apparatus of FIG. 1.
[0009] FIG. 3 is an isometric, partially exploded view of a
connecting assembly of the clamp replacing apparatus of FIG. 1.
[0010] FIG. 4 is a functional block diagram of a controlling
circuit of the clamp replacing apparatus of FIG. 1, according to an
exemplary embodiment.
DETAILED DESCRIPTION
[0011] Referring to FIGS. 1 and 2, a clamp replacing apparatus 20
includes a robot arm 100, a clamp 200 and a connecting assembly 10
structured between the robot arm 100 and the clamp 200. The
connecting assembly 10 is configured for detachably connecting the
clamp 200 to the robot arm 100.
[0012] The robot arm 100 includes a ring-shaped flange 101 radially
extending from a distal end thereof. The flange 101 defines a
number of first screw holes 102 thereof. The clamp 200 includes a
contacting surface 201 facing the robot arm 100 and a number of
second screw holes 202 defined on the contacting surface 201.
[0013] The connecting assembly 10 includes a first rotator 11 and a
second rotator 12 detachably connected to the first rotator 11. The
first rotator 11 is fixed on the flange 101. The second rotator 12
is fixed on the clamp 200.
[0014] The first rotator 11 includes a first base 111 contacting
with the flange 101 of the robot arm 100 and a first platform 113
formed on an end surface of the first base 111 facing the second
rotator 12. The first base 111 defines a number of third screw
holes 111A corresponding to the first screw holes 102. A number of
first screws 13 are respectively inserted into the first screw
holes 102 and the third screw holes 111A for fixing the first
rotator 11 to the robot arm 100.
[0015] Referring to FIG. 3, the first platform 113 includes two
opposite first locking portions 115 radially extending from a
circumference surface thereof. Each of the first locking portion
115 has a sector-shaped configuration. The first locking portion
115 includes an arc-shaped outer edge surface 115A, two side
surfaces 115B and two end surfaces 115C connecting the arc-shaped
edge surface 115A to the side surface 115B. The first locking
portion 115 further defines a receiving groove 116 parallel to the
arc-shaped outer edge surface 115A and a first through hole 117
perpendicularly communicated with the receiving groove 116 on the
end surface 115C facing the second rotator 12.
[0016] Corresponding to each first locking portion 115, the first
rotator 11 further includes a number of springs 118 fixed on the
first base 111 and a number of ball bearings 119 respectively
connected to the distal ends of the springs 118 corresponding to
the first through holes 117. A part of the ball bearing 119 is
received in the receiving groove 116 by passing through the first
through hole 117.
[0017] The second rotator 12 includes a second base 121 and a
second platform 123 formed on the end surface of the second base
121 facing the first rotator 11. The second base 121 defines a
number of fourth screw holes 121A around the second platform 123,
corresponding to the second screw holes 202 of the clamp 200. A
number of second screws 14 are respectively received in the second
screw holes 202 and the fourth screw holes 121A for connecting the
second rotator 12 to the clamp 200.
[0018] The second platform 123 includes two second locking portions
125 radially extending from a circumference surface thereof,
corresponding to the first locking portions 115. A receiving space
126 is defined between the end surface of the second platform 123
and a surface of the two second locking portions 125 for receiving
a part of the first platform 113 therein. Each second locking
portion 125 includes a rootage portion 127 and a bolt portion 129
extending from an end thereof towards the receiving groove 116. The
diameter and the extending length of the bolt portion 129 are
substantially same to that of the receiving groove 116 of the first
rotator 11. The bolt portion 129 defines a second through hole 129A
corresponding to the first through hole 117. A part of the ball
bearing 119 is received in the second through hole 129A by passing
through the first through hole 117. In this embodiment, both of the
first and second locking portions 115, 125 are made of plastic or
metal with a high friction coefficient.
[0019] Understandably, the number and position of the first and the
second locking portions 115, 125 can be designed freely, according
to different demands. For example, one of the first locking portion
115 and one of the second locking portion 125 may be disposed on
the first platform 113, while the other first locking portion 115
and the other second locking portion 125 are disposed on the second
platform 123.
[0020] Referring to FIG. 4, in order to get an intelligentized
clamp replacing apparatus 20, a light emitter 30 is disposed at the
center of the second platform 123 to emit a linear ray, a scanning
lens 40 is disposed at the center of the first platform 113 and a
controlling circuit 50 is integrated in the robot arm 100. The
scanning lens 40 is configured for capturing a number of images
around the robot arm 100 and installing a three-axis reference
system with an x-axis, a y-axis and a z-axis for each image. A
first sensor 60 is disposed between the two second locking portions
125 of the second rotator 12, and facing the first rotator 11, to
transmit a position signal to the first rotator 11. A second sensor
70 is received in the first through hole 117 of the first locking
portion 115 to receive the position signal from the first sensor 60
when the first rotator 11 rotates relative to the second rotator
12.
[0021] Referring to FIG. 4, together with FIG. 3, the controlling
circuit 50 includes a collecting module 51, a comparing module 52
and a driving module 53.
[0022] The collecting module 51 is configured for collecting a
number of brightness values corresponding to each pixel in each
image and a number of coordinates corresponding to the brightness
values.
[0023] The comparing module 52 is configured for comparing the
brightness values of the images with a predetermined brightness
value stored in the comparing module 52.
[0024] If one of the brightness values of the images is equal to
the predetermined brightness value, the driving module 53 achieves
the corresponding coordinate of the brightness value and drives the
robot arm 100 to move to the corresponding coordinate, so that the
center of the first platform 113 is aiming at the center of the
second platform 123. Continuingly, the driving module 53 drives the
robot arm 100 to rotate relative to the clamp 200, until the second
sensor 70 gets a position signal from the first sensor 60. When the
second sensor 70 gets the position signal from the first sensor 60,
the robot arm 100 continuingly drives the first rotator 11 to
rotate in a predetermined angle stored in the driving module 53,
along a direction approaching to the second locking portion 125. As
a result, the second locking portion 125 is latched with the first
locking portion 115 via the bolt portion 129 being received in the
receiving groove 116. Meanwhile, the ball bearing 119 of the first
rotator 11 is received in the first through hole 117 and the second
through hole 129A. In another way, if the brightness values of the
images are not equal to the predetermined brightness value, the
robot arm 100 is continuingly moved around, and the collecting
module 51 continues to collect other images, to find out the clamp
200.
[0025] In this embodiment, the driving module 53 further includes a
calculating unit 530 configured for calculating a moving distance
of the robot arm 100, according to an ordinate origin of the
three-axis reference system, an current ordinate position of the
robot arm 100 and a predetermined calculating scale stored in the
driving module 53.
[0026] When in use, people can manually take up the clamp 200 and
rotate the second rotator 12 relative to the first rotator 11. As a
result, the second rotator 12 can be positioned on the first
rotator 11, when the bolt portion 129 is received in the receiving
groove 116 of the first rotator 11 and the ball bearing 119 of the
first rotator 11 is received in the first through hole 117. When
replacing the clamp 200, people only need to oppositely rotate the
second rotator 12 relative to the first rotator 11, thereby to
change a new clamp 200. In this way, the light emitter 30, the
scanning lens 40, the first sensor 60, the second sensor 70 and the
controlling circuit 50 do not need to work.
[0027] In another way for using the clamp replacing apparatus 20,
the clamp 200 is firstly fixed on a shelf (not shown). The light
emitter 30, the scanning lens 40, the first sensor 60, the second
sensor 70 and the controlling circuit 50 are all started. The
scanning lens 40 captures a number of images around the robot arm
100 and the comparing module 52 compares the brightness of each
pixel of each image, to get a coordinate of the light emitter 30.
The driving module 53 drives the robot arm 100 to approach to the
light emitter 30, when one of the brightness value of the images is
equal to the predetermined brightness value. And as a result, the
center of the first platform 113 is aiming at the center of the
second platform 125 and the second rotator 12 is latched in the
first rotator 11 while the second sensor 70 receives the position
signal from the first sensor 60. When replacing the clamp 200, the
robot arm 100 oppositely rotates relative to the clamp 200, so that
the bolt portion 129 of the second rotator 12 presses the spring
118 of the first rotator 11 and the ball bearing 119 is escaped
from the first through hole 117 and the second through hole 129A.
Thus, the second rotator 12 is disengaged from the first rotator 11
and the robot arm 100 searches another clamp 200 for
production.
[0028] It will be understood that the above particular embodiments
and methods are shown and described by way of illustration only.
The principles and the features of the present invention may be
employed in various and numerous embodiments thereof without
departing from the scope of the invention as claimed. The
above-described embodiments illustrate the scope of the invention
but do not restrict the scope of the invention.
* * * * *